Driving parameter allocation method and device

Abstract

A method and device for distributing driving parameters. The method comprises: obtaining driving parameters, determining a current driving scene, and sending the driving parameters to a motor (103) or a vehicle control device (102) according to the current driving scene. The current driving scene comprises an intelligent driving scene, an intelligent driving low-speed scene, an intelligent driving non-low-speed scene, a normal manual driving scene, or a manual driving failure scene.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and in particular to a method and device for allocating driving parameters. Background Art

[0002] With the continuous development of computer technology and Internet technology, intelligent driving has gradually entered people's lives, so that in addition to using manual driving mode to drive a vehicle, you can also use intelligent driving mode to drive a vehicle. Intelligent driving modes include automatic driving (also known as unmanned driving) mode or assisted driving mode. Among them, automatic driving mode means that the intelligent driving device in the vehicle can operate the vehicle to drive safely without the participation of the driver during the driving process. Assisted driving mode means that during the driving process of the vehicle, the intelligent driving device in the vehicle assists the driver in driving safely.

[0003] At present, if the vehicle is driven in an intelligent driving mode, the intelligent driving device can calculate the torque information and send the torque information to the vehicle control device. After receiving the torque information, the vehicle control device can directly send the torque information to the motor, or further process the received torque information and send the processed torque information to the motor, so that the motor can perform corresponding operations according to the received torque information. If the vehicle is driven in a manual driving mode, the vehicle control device can calculate the torque information and send the torque information to the motor. After the motor receives the torque information, it performs corresponding operations according to the torque information. In the above process, the working mode between the intelligent driving device, the vehicle control device and the motor is relatively simple, which is not suitable for the increasingly complex driving environment. Summary of the invention

[0004] The embodiments of the present application provide a method and device for allocating driving parameters, which can allocate driving parameters according to the current driving scenario, so that the driving parameters are allocated to a device suitable for the current driving scenario.

[0005] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0006] In a first aspect, a method for allocating driving parameters is provided, which can be executed by an intelligent control device; or, it can also be executed by a module applied to the intelligent control device, such as a chip, a chip system or a circuit; or, it can also be implemented by a logic module or software that can realize all or part of the functions of the intelligent control device, without limitation. For ease of description, the following description is based on an example of execution by an intelligent control device.

[0007] The method includes: obtaining driving parameters; determining a current driving scenario, which includes an intelligent driving scenario, an intelligent driving low-speed scenario, an intelligent driving non-low-speed scenario, a normal manual driving scenario, or a manual driving failure scenario; and sending the driving parameters to a motor or a vehicle control device according to the current driving scenario.

[0008] Based on the method provided in the first aspect above, the intelligent control device can obtain driving parameters, determine the current driving scene, and allocate driving parameters according to the current driving scene, thereby enriching the working modes between the intelligent control device, the vehicle control device and the motor, so that the final way of allocating driving parameters is suitable for the current driving scene.

[0009] In one possible implementation, determining the current driving scenario includes: detecting that the intelligent driving mode is turned on, and determining that the current driving scenario includes the intelligent driving scenario; or detecting that the intelligent driving mode is turned on and the vehicle speed is less than or equal to a first threshold, and determining that the current driving scenario includes the intelligent driving low-speed scenario; or detecting that the intelligent driving mode is turned on and the vehicle speed is greater than the first threshold, and determining that the current driving scenario includes the intelligent driving non-low-speed scenario; or determining that the current driving scenario includes the manual driving failure scenario due to an abnormal handshake detection with the vehicle control device or interruption of communication with the vehicle control device.

[0010] Based on the above possible implementation methods, the intelligent control device can determine the current driving scene by detecting whether the intelligent driving mode is turned on, detecting the vehicle speed, or handshaking with the vehicle control device.

[0011] In a possible implementation, the driving parameters are sent to the motor or the vehicle control device according to the current driving scenario, including: the current driving scenario includes an intelligent driving scenario, an intelligent driving low-speed scenario, or a manual driving failure scenario, and the driving parameters are sent to the motor; or the current driving scenario includes an intelligent driving non-low-speed scenario or a manual driving normal scenario, and the driving parameters are sent to the vehicle control device.

[0012] Based on the above possible implementation methods, the intelligent control device can determine whether to send driving parameters to the motor or to the vehicle control device according to the actual needs of the current driving scene. Specifically, the intelligent driving scene or the intelligent driving low-speed scene has a high requirement for the control accuracy of the vehicle displacement. The intelligent control device does not send the driving parameters to the motor through the vehicle control device, but directly sends the driving parameters to the motor, which can reduce the response time of the motor (at least 10ms) and achieve high-precision vehicle displacement control. In the manual driving failure scenario, the vehicle control device cannot work normally, so the intelligent driving device may not send the driving parameters to the vehicle control device, but send the driving parameters to the motor, so that the vehicle can drive normally. Intelligent driving non-low-speed scenarios (for example, including highway adaptive cruise scenarios) do not have high requirements for the control accuracy of vehicle displacement, and do not have high requirements for the control accuracy of the motor. The intelligent control device can send driving parameters to the motor through the vehicle control device so that the vehicle control device can coordinate and manage other functions of the vehicle, such as: vehicle dynamics control function, vehicle kinematics control function, vehicle energy management function, speed limit function or power system capacity limit function. At least one of the functions. In normal manual driving scenarios, the intelligent control device sends driving parameters to the vehicle control device, which can provide a basis for the vehicle control device to calculate the driving parameters.

[0013] In a possible implementation, sending the driving parameter to the vehicle control device includes: sending the driving parameter to the vehicle control device when handshake detection with the vehicle control device is normal.

[0014] Based on the above possible implementations, the intelligent control device and the vehicle control device can perform handshake detection through mechanisms such as heartbeat detection and / or interactive response to detect whether the intelligent control device and the vehicle control device are working properly. When the vehicle control device is working properly, the intelligent control device can send driving parameters to the vehicle control device to ensure that the vehicle can drive normally.

[0015] In a possible implementation, sending the driving parameter to the vehicle control device includes: sending the driving parameter to the vehicle control device when handshake detection with the vehicle control device is abnormal and handshake detection between the motor or power device and the vehicle control device is normal.

[0016] Based on the above possible implementation methods, if the intelligent control device detects an abnormality when shaking hands with the vehicle control device, it means that the intelligent control device or the vehicle control device is abnormal, but the intelligent control device cannot determine which specific device is abnormal. Therefore, the intelligent control device can further determine the abnormal device through other devices or modules (such as motors or power devices), and send driving parameters to the vehicle control device when it is determined that the vehicle control device is working normally to ensure that the vehicle can travel normally. It can be understood that if the intelligent control device detects an abnormality when shaking hands with the vehicle control device, and the handshake detection between the motor or power device and the vehicle control device is normal, it means that the vehicle control device is normal, so the intelligent control device can send driving parameters to the vehicle control device.

[0017] In a possible implementation, the method further includes: receiving a detection result from the motor or the power device, wherein the detection result is used to indicate whether a handshake detection between the motor or the power device and the vehicle control device is normal.

[0018] Based on the above possible implementations, the intelligent control device can determine whether the handshake detection between the motor or the power device and the vehicle control device is normal.

[0019] In a possible implementation, before sending the driving parameter to the vehicle control device, the method further includes: sending first indication information to the vehicle control device, where the first indication information is used to indicate that the driving parameter is ready to be processed.

[0020] Based on the above possible implementation methods, the intelligent control device can instruct the vehicle control device to prepare to process the driving parameters so as to smoothly transfer the vehicle control rights later, avoid no device allocating driving parameters for a period of time, or avoid multiple devices allocating driving parameters for a period of time. The motor does not know which device to use to allocate the driving parameters, thereby improving the driving safety of the vehicle.

[0021] In a possible implementation, before sending the driving parameters to the vehicle control device, the method also includes: sending first verification information to the vehicle control device, the first verification information being used to verify whether preparation is complete; receiving response information to the first verification information from the vehicle control device, the response information being used to indicate that preparation is complete.

[0022] Based on the possible implementations described above, the intelligent control device can hand over the vehicle control right after the vehicle control device is ready, so as to improve the driving safety of the vehicle.

[0023] In a possible implementation, the current driving scenario includes the manual driving failure scenario, and the intelligent control device has all or part of the functions of the vehicle control device.

[0024] Based on the above possible implementation methods, in the case of a manual driving failure, the vehicle control device is abnormal. At this time, the intelligent control device can serve as a redundant device of the vehicle control device, executing all or part of the operations of the vehicle control device, so that the vehicle can drive normally in the manual driving failure scenario, ensuring the safety of vehicle driving.

[0025] In one possible implementation, the intelligent control device is connected to the throttle signal and the brake signal, and the intelligent control device has all the functions of the vehicle control device; or, the intelligent control device is not connected to the throttle signal and the brake signal, and the intelligent control device has some of the functions of the vehicle control device.

[0026] Based on the above possible implementations, when the intelligent control device is connected to the throttle signal and the brake signal, the intelligent control device can receive the driver's driving demand and braking demand, and the intelligent control device can have all the functions of the vehicle control device, replacing the vehicle control device. When the intelligent control device is not connected to the throttle signal and the brake signal, the intelligent control device cannot receive the driver's driving demand and braking demand. Therefore, the intelligent control device cannot completely replace the vehicle control device, but has some functions of the vehicle control device. It can be understood that the embodiments of the present application do not limit the connection method between the intelligent control device and the throttle signal and the brake signal. The intelligent control device can be directly connected to the two signals, such as through a hard wire connection, or the intelligent control device can be indirectly connected to the two signals, such as indirectly obtaining the two signals through CAN or its characteristic bus.

[0027] In a possible implementation, the method further includes: detecting whether a collaborative processing function of driving parameters is turned on; and when the collaborative processing function is turned on, sending second indication information to the motor, the second indication information being used to indicate collaborative processing of the driving parameters.

[0028] Based on the above possible implementation methods, when the intelligent control device detects that the collaborative processing function is turned on, it can instruct the motor to collaboratively process driving parameters to improve the stability of the vehicle and the riding comfort of the driver and passengers.

[0029] In a possible implementation, the driving parameter includes at least one of the following: torque, vehicle speed, wheel speed, vehicle acceleration, motor phase angle, vehicle distance or wheel track.

[0030] Based on the possible implementations described above, the intelligent control device can allocate various types of parameters to control the vehicle from multiple aspects.

[0031] In a possible implementation, the vehicle control device is a vehicle control unit, a vehicle control domain controller, a hybrid power control unit or a multi-domain controller.

[0032] Based on the possible implementation methods described above, the functions of the vehicle control device can be flexibly deployed in the equipment inside the vehicle.

[0033] In a second aspect, a method for allocating driving parameters is provided, which can be executed by a vehicle control device; or, it can also be executed by a module applied to the vehicle control device, such as a chip, a chip system or a circuit; or, it can also be implemented by a logic module or software that can realize all or part of the functions of the vehicle control device, without limitation. For ease of description, the following description is based on an example of execution by a vehicle control device.

[0034] The method includes: receiving first indication information from an intelligent control device, the first indication information is used to indicate that a driving parameter is ready to be processed; receiving a first driving parameter from the intelligent control device; and sending a second driving parameter to a motor, the second driving parameter being obtained based on the first driving parameter.

[0035] Based on the method provided in the second aspect above, the vehicle control device can assign driving parameters to the motor after the intelligent control device indicates that it is ready to process the driving parameters, so that the vehicle control is smoothly transferred from the intelligent control device to the vehicle control device, avoiding no device assigning driving parameters for a period of time, or avoiding multiple devices assigning driving parameters for a period of time, and the motor does not know which device to use to assign the driving parameters, thereby improving the driving safety of the vehicle.

[0036] In one possible implementation, before sending the second driving parameter to the motor, the method also includes: receiving first verification information from the intelligent control device, the first verification information being used to verify whether preparation is complete; and sending response information of the first verification information to the intelligent control device, the response information being used to indicate that preparation is complete.

[0037] Based on the possible implementation manners described above, the intelligent control device can determine whether the vehicle control device is ready to assign driving parameters to the motor.

[0038] In a possible implementation, before receiving the first indication information from the intelligent control device, the method further includes: handshake detection with the intelligent control device is normal; or handshake detection with the intelligent control device is abnormal, but handshake detection with the motor or power device is normal.

[0039] Based on the above possible implementations, the intelligent control device can, when determining that the vehicle control device is normal, instruct the vehicle control device to prepare to process driving parameters to ensure safe driving of the vehicle. It can be understood that a normal handshake detection between the vehicle control device and the intelligent control device can indicate that the vehicle control device is normal. An abnormal handshake detection between the vehicle control device and the intelligent control device can indicate that at least one of the vehicle control device and the intelligent control device is abnormal or that the communication link between the vehicle control device and the intelligent control device is abnormal, while a normal handshake detection between the vehicle control device and the motor or power device can indicate that at least the vehicle control device is working normally.

[0040] In a possible implementation, the first driving parameter includes at least one of the following: torque, vehicle speed, wheel speed, vehicle acceleration, motor phase angle, vehicle distance or wheel track.

[0041] Based on the possible implementations described above, the vehicle control device can allocate various types of parameters to control the vehicle from multiple aspects.

[0042] In one possible implementation, the intelligent control device is an autonomous driving system, an advanced driver assistance system, a multi-domain controller, an autonomous driving control unit, or a high-performance computing center.

[0043] Based on the possible implementations described above, the functions of the intelligent control device can be flexibly deployed in the equipment inside the vehicle.

[0044] In a third aspect, a vehicle-mounted device is provided for implementing the above method. The vehicle-mounted device may be the intelligent control device in the above first aspect, or a device including the above intelligent control device, or a module in the intelligent control device in the above first aspect, such as a chip, a chip system or a circuit, or a logic module or software implementation that can implement part or all of the functions of the intelligent control device. The vehicle-mounted device includes a module, unit, or means corresponding to the above method, and the module, unit, or means may be implemented by hardware, software, or by executing the corresponding software implementation by hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

[0045] In conjunction with the third aspect, in a possible implementation, the vehicle-mounted device may include a processing module and a transceiver module. The processing module may be used to implement the processing functions in the first aspect and any possible implementation thereof. The processing module may be, for example, a processor. The transceiver module may also be referred to as a transceiver unit, and is used to implement the sending and / or receiving functions in the first aspect and any possible implementation thereof. The transceiver module may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0046] In combination with the third aspect, in a possible implementation, the transceiver module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the first aspect and any possible implementation thereof.

[0047] In a fourth aspect, a vehicle-mounted device is provided for implementing the above method. The vehicle-mounted device may be the vehicle control device in the above second aspect, or a device including the above vehicle control device, or a module in the vehicle control device in the above second aspect, such as a chip, a chip system or a circuit, or a logic module or software implementation that can implement part or all of the functions of the vehicle control device. The vehicle-mounted device includes a module, unit, or means corresponding to the above method, and the module, unit, or means may be implemented by hardware, software, or by executing the corresponding software implementation by hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

[0048] In conjunction with the fourth aspect, in a possible implementation, the vehicle-mounted device may include a transceiver module. The transceiver module, which may also be referred to as a transceiver unit, is used to implement the sending and / or receiving functions in the second aspect and any possible implementation thereof. The transceiver module may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0049] In combination with the fourth aspect, in a possible implementation, the transceiver module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the second aspect and any possible implementation thereof.

[0050] In conjunction with the fourth aspect, in a possible implementation, the vehicle-mounted device further includes a processing module. The processing module can be used to implement the processing functions in the second aspect and any possible implementation thereof. The processing module can be, for example, a processor.

[0051] In a fifth aspect, a vehicle-mounted device is provided, comprising: a processor; the processor is used to couple with a memory, and after reading the instructions in the memory, execute the method as described in any of the above aspects according to the instructions. The vehicle-mounted device can be the intelligent control device in the above first aspect, or a device including the above intelligent control device, or a module in the intelligent control device in the above first aspect, such as a chip, a chip system or a circuit, or a logic module or software implementation that can realize part or all of the functions of the intelligent control device; or, the vehicle-mounted device can be the vehicle control device in the above second aspect, or a device including the above vehicle control device, or a module in the vehicle control device in the above second aspect, such as a chip, a chip system or a circuit, or a logic module or software implementation that can realize part or all of the functions of the vehicle control device.

[0052] In combination with the fifth aspect above, in a possible implementation, the vehicle-mounted device further includes a memory, and the memory is used to store necessary program instructions and data.

[0053] In conjunction with the fifth aspect, in a possible implementation, the vehicle-mounted device is a chip or a chip system. Optionally, when the vehicle-mounted device is a chip system, it can be composed of a chip, or it can include a chip and other discrete devices.

[0054] In the sixth aspect, a vehicle-mounted device is provided, comprising: a processor and an interface circuit; the interface circuit is used to receive a computer program or instruction and transmit it to the processor; the processor is used to execute the computer program or instruction so that the vehicle-mounted device executes the method described in any of the above aspects. The vehicle-mounted device can be the intelligent control device in the above first aspect, or a device including the above intelligent control device, or a module in the intelligent control device in the above first aspect, such as a chip, a chip system or a circuit, or a logic module or software implementation that can realize part or all of the functions of the intelligent control device; or, the vehicle-mounted device can be the vehicle control device in the above second aspect, or a device including the above vehicle control device, or a module in the vehicle control device in the above second aspect, such as a chip, a chip system or a circuit, or a logic module or software implementation that can realize part or all of the functions of the vehicle control device.

[0055] In conjunction with the sixth aspect, in a possible implementation, the vehicle-mounted device is a chip or a chip system. Optionally, when the vehicle-mounted device is a chip system, it can be composed of a chip, or it can include a chip and other discrete devices.

[0056] In a seventh aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, the computer can execute the method described in any one of the above aspects.

[0057] In an eighth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the method described in any one of the above aspects.

[0058] In a ninth aspect, an intelligent driving vehicle is provided, which includes an intelligent control device for executing the method described in the first aspect above, and / or a vehicle control device for executing the method described in the second aspect above; or, the intelligent driving vehicle includes the on-board equipment of the third aspect, and / or the on-board equipment of the fourth aspect.

[0059] In the tenth aspect, a vehicle-mounted system is provided, which includes an intelligent control device for executing the method described in the first aspect above, and / or a vehicle control device for executing the method described in the second aspect above; or, the vehicle-mounted system includes the vehicle-mounted equipment of the third aspect, and / or the vehicle-mounted equipment of the fourth aspect.

[0060] Among them, the technical effects brought about by any possible implementation method of the third to tenth aspects can be referred to the technical effects brought about by any aspect of the first to second aspects or different possible implementation methods of any aspect, and will not be repeated here.

[0061] It can be understood that, under the premise that the solutions are not contradictory, the solutions in each aspect can be combined. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1A A schematic diagram of the architecture of the vehicle-mounted system provided in an embodiment of the present application;

[0063] Figure 1B A schematic diagram of the structure of an intelligent control device 101 provided in an embodiment of the present application;

[0064] Figure 1C A schematic diagram of a vehicle network architecture provided in an embodiment of the present application;

[0065] Figure 2 A schematic diagram of the hardware structure of the vehicle-mounted device provided in the embodiment of the present application;

[0066] Figure 3 A flowchart of a method for allocating driving parameters provided in an embodiment of the present application is shown in FIG1 ;

[0067] Figure 4 Schematic diagram of the process of the method for allocating driving parameters provided in the embodiment of the present application Figure 2 ;

[0068] Figure 5 A structural schematic diagram 1 of the vehicle-mounted device provided in an embodiment of the present application;

[0069] Figure 6 A schematic diagram of the structure of the vehicle-mounted device provided in the embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0070] The implementation of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0071] The method provided in the embodiment of the present application can be used in various vehicle-mounted systems. Figure 1A Taking the vehicle-mounted system 10 as an example, the method provided in the embodiment of the present application is described. Figure 1AIt is only a schematic diagram and does not constitute a limitation on the applicable scenarios of the technical solution provided in this application.

[0072] like Figure 1A , which is a schematic diagram of the architecture of the vehicle-mounted system 10 provided in an embodiment of the present application. Figure 1A In the embodiment, the vehicle-mounted system 10 may include an intelligent control device 101, a vehicle control device 102 that can be communicatively connected to the intelligent control device 101, and a motor 103 that can be communicatively connected to both of them.

[0073] In the embodiments of the present application, the communication connection between any two devices / equipment / modules can be understood as direct communication between the two devices / equipment / modules via wired or wireless means, or indirect communication through other devices / other devices / other modules. For example, the communication connection between the intelligent control device 101 and the vehicle control device 102 can be understood as direct communication between the intelligent control device 101 and the vehicle control device 102 via wired or wireless means, or indirect communication through the motor 103.

[0074] In the embodiment of the present application, wired communication may refer to communication through at least one of the following methods: Ethernet, controller area network (CAN), CAN with flexible data rate (CAN FD), CANXL, local interconnect network (LIN), media oriented system transport (MOST), hard line (AD type or DI type, etc.), single edge nibble transmission (SENT) bus, general-purpose input / output (GPIO) interface, universal asynchronous receiver / transmitter (UART) or FlexRay, etc. Wireless communication may refer to communication through cellular network, Wi-Fi system or Bluetooth, etc. Among them, the cellular network may include any one or more networks related to the third generation partnership project (3GPP), such as the fourth generation (4G) network, the fifth generation (5G) or the future evolution network, etc.

[0075] In the embodiment of the present application, the intelligent control device, for example, the intelligent control device 101, can be any device having a transceiver function and a computing function. As an example, the intelligent control device is an automated driving system (ADS), an advanced driver assistance system (ADAS), a multi-domain controller (MDC), a mobile data center (MDC), a high performance computer (HPC), an automated driving control unit (ADCU) or a vehicle control unit (VCU), etc. Among them, the multi-domain controller can also be called a cross-domain controller.

[0076] In the embodiment of the present application, the vehicle control device, for example, the vehicle control device 102, can be any device having a transceiver function and a computing function. As an example, the vehicle control device is a VCU, a hybrid control unit (HCU), a vehicle domain controller (VDC), a multi-domain controller, a mobile data center, or a power chassis domain controller.

[0077] In the embodiment of the present application, the motor, for example, the motor 103, can be any device having a transceiver function and a computing function. For example, the motor can receive a control instruction from an intelligent control device or a vehicle control device, and control the operation of the motor according to the control instruction.

[0078] The intelligent control device or vehicle control device of the present application may be a vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit that is built into the vehicle as one or more components or units. The vehicle may implement the method of the present application through the built-in vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit.

[0079] Figure 1A The vehicle-mounted system 10 shown is only used as an example and is not used to limit the technical solution of the present application. Those skilled in the art should understand that in the specific implementation process, the vehicle-mounted system 10 may also include other devices, and the number of intelligent control devices, vehicle control devices or motors may also be determined according to specific needs without limitation.

[0080] In some embodiments, the intelligent control device 101 may have an intelligent driving function and an intelligent control function. Figure 1B As shown, the intelligent control device 101 may include a micro controller unit (MCU) module 1011 and an intelligent driving module 1012 .

[0081] exist Figure 1B In the embodiment, the intelligent driving module 1012 may have an automatic driving function or an assisted driving function. For example, the intelligent driving module 1012 has at least one of the following functions: a perception function, a fusion function, a planning function, or a control function.

[0082] Exemplarily, a perception module is deployed in the intelligent driving module 1012 to perceive the surrounding environment. The perception module may include at least one of the following: a camera, a laser radar, an ultrasonic radar, a millimeter wave radar, an inertial measuring unit (IMU) or an inertial navigation module, etc.

[0083] Optionally, the intelligent driving module 1012 has an interface for communicating with an external device, such as at least one of the following interfaces: a CAN interface, a LIN interface, a GPIO interface, an Ethernet interface, or a low-voltage differential signaling (LVDS) interface.

[0084] exist Figure 1B In the embodiment, the MCU module 1011 may have an intelligent control function, monitor the intelligent driving module 1012, and process the information obtained by the intelligent driving module 1012. For example, the MCU module 1011 has at least one of the following functions: calculating driving parameters, allocating driving parameters, arbitration, switching management, handshake detection with the vehicle control device, handshake detection with the motor, or safety monitoring, etc. Optionally, the MCU module 1011 also has at least one of the following functions: perception function, fusion function, planning function, or control function.

[0085] Optionally, the communication method between the MCU module 1011 and the intelligent driving module 1012 includes at least but is not limited to CAN, CANFD, CANXL, Ethernet, serial peripheral interface (serial peripheral interface, SPI), UART, peripheral component interconnect express (peripheral component interconnect express, PCIe), inter-integrated circuit (inter-integrated circuit, I2C) interface, GPIO or other high-speed buses, etc.

[0086] It can be understood that the MCU module 1011 exists in the form of but is not limited to a circuit assembly of an independent MCU chip or an MCU core or other cores (A core or M core, etc.) in a high-order chip.

[0087] As an example, the MCU module 1011 and the intelligent driving module 1012 share a shell but separate boards, or share a single board (such as a circuit board or a printed circuit board (PCB) board) but separate chips, or share a single board and a chip, or share a chip but separate cores, or share a core but separate tasks, etc.

[0088] As another example, the intelligent driving module 1012 is a module in the intelligent control device 101 that has a high-level autonomous driving function or a high computing power function, and the MCU module 1011 is a monitoring chip in the intelligent control device 101, which is used for safety monitoring or power on and off control.

[0089] Figure 1B The intelligent control device 101 shown is only used as an example and is not used to limit the technical solution of the present application. Those skilled in the art should understand that in the specific implementation process, the intelligent control device 101 may also include other modules, and the number of MCU modules or intelligent driving modules may also be determined according to specific needs without limitation.

[0090] In one possible implementation, Figure 1A The vehicle-mounted system 10 shown can be applied to Figure 1C In the network architecture shown.

[0091] like Figure 1C As shown, a network architecture is provided in an embodiment of the present application. Figure 1C The network architecture includes an intelligent control device, a vehicle control device, at least one motor, a chassis CAN node, a power CAN node and at least one regional module. The intelligent control device includes an MCU module and an intelligent driving module. Optionally, the network architecture also includes a chassis redundant CAN node.

[0092] Understandably, Figure 1A The intelligent control device 101 in Figure 1C The corresponding device is an intelligent control device. Figure 1A The vehicle control device 102 in Figure 1C The corresponding device in is the vehicle control device, Figure 1A The motor 103 in Figure 1C The corresponding device is at least one motor.

[0093] Understandably, Figure 1B The MCU module 1011 in Figure 1C The corresponding module is the MCU module. Figure 1B The intelligent driving module 1012 in Figure 1C The corresponding module in is the intelligent driving module.

[0094] exist Figure 1C In the embodiment, at least one motor, chassis CAN node, power CAN node and chassis redundant CAN node are respectively connected to the intelligent control device and the vehicle control device for communication, and at least one regional module is connected to the vehicle control device for communication. The vehicle control device is also connected to at least one throttle signal and at least one brake signal to receive the throttle signal when the driver steps on the throttle pedal, or to receive the brake signal when the driver steps on the brake pedal. Optionally, the intelligent control device is connected to at least one throttle signal and at least one brake signal to receive the throttle signal when the driver steps on the throttle pedal, or to receive the brake signal when the driver steps on the brake pedal.

[0095] In the embodiment of the present application, the throttle signal can be replaced by an accelerator pedal signal or an accelerator pedal signal. The driver can reflect his acceleration needs by the force of stepping on the pedal. Generally, the pedal opening is proportional to or positively correlated with the required torque. For example, the more the pedal opening, the greater the required torque, and the less the pedal opening, the smaller the required torque. The connection form of the throttle signal to the intelligent control device and the vehicle control device includes at least hard line (AD type), SENT bus, CAN, CANFD, CANXL, Ethernet, SPI, UART, PCIE, I2C, LVDS, LIN or other buses.

[0096] In the embodiment of the present application, the brake signal can be replaced by a brake switch signal or a brake pedal signal. The driver can reflect his braking demand by the force of stepping on the brake pedal. Usually, stepping on the pedal means there is a braking demand. The greater the amplitude of stepping on, the greater the required braking demand, and the smaller the amplitude of stepping on, the smaller the required braking demand. The connection form of the brake signal with the intelligent control device and the vehicle control device includes at least hard line (DI type), SENT bus, CAN, CANFD, CANXL, Ethernet, SPI, UART, PCIE, I2C, LVDS, LIN or other buses.

[0097] In the embodiment of the present application, the vehicle control device or the intelligent control device is connected to at least one throttle signal and at least one brake signal, which can be understood as the vehicle control device or the intelligent control device is directly connected to at least one throttle signal and at least one brake signal, such as: through a hard wire connection; or, the vehicle control device or the intelligent control device is indirectly connected to at least one throttle signal and at least one brake signal, such as: indirectly obtaining at least one throttle signal and at least one brake signal through CAN or other buses.

[0098] Below Figure 1CEach device or module in the system is introduced in detail.

[0099] Figure 1C In the embodiment, the intelligent control device may include an MCU module and an intelligent driving module. The specific introduction of the MCU module and the intelligent driving module can refer to the above Figure 1B The description of the MCU module 1011 and the intelligent driving module 1012 is not repeated here.

[0100] Optionally, the functions of the intelligent control device can be deployed on other modules or devices of the vehicle, such as on a vehicle control device, and / or on at least one motor, and / or on a power CAN node, and / or on at least one regional module, and / or on at least one domain controller ( Figure 1C ), and / or, an intelligent control device. In this case, Figure 1C The intelligent control device may not be included, and the device or module that is communicatively connected to the intelligent control device should be communicatively connected to the device or module that deploys the functions of the intelligent control device.

[0101] Figure 1C In the vehicle control device, the vehicle can control the vehicle in a normal manual driving scenario, an assisted driving scenario, or a human-machine co-driving scenario (such as the switching connection stage between the intelligent driving scenario and the manual driving scenario), such as identifying the needs of the driver and / or the needs of the intelligent control device, processing logical operations, converting the processing results into corresponding control instructions and sending them to the corresponding devices (such as chassis CAN nodes, and / or, power CAN nodes, and / or, central control instrument display nodes, etc.), so that the device executes the instructions. Among them, the driver can respond to his own needs by operating the equipment or buttons in the vehicle. For example, the driver responds to the braking demand by stepping on the brake pedal, responds to the acceleration demand by stepping on the accelerator pedal, responds to the shifting demand by operating the gear lever, responds to the charging demand by connecting the charging pile, responds to the parking demand by the parking button, responds to the software upgrade demand by the upgrade button, responds to the driving mode demand by the buttons corresponding to each driving mode, etc.

[0102] In a possible design, the vehicle control device has at least one of the following functions: a driving parameter calculation function for a manual driving scenario, a driving parameter connection and takeover function when exiting an intelligent driving scenario, a driving parameter allocation control function for multiple motors, a multi-directional collaborative control function (such as a collaborative control function in at least two directions of the lateral, longitudinal or vertical directions), a vehicle driving capability limitation protection function, a vehicle mode management and supporting functions (such as driving, charging, parking, high and low voltage power on and off, energy consumption management, fault diagnosis, system degradation, network management or software upgrade, etc.), a handshake detection function with an intelligent driving device, a function of switching vehicle control between intelligent driving devices, a handshake detection function with at least one motor, or a handshake detection function with a power CAN node.

[0103] Among them, the longitudinal direction can control driving and / or braking. The lateral direction can control at least one of the following: direction steering, angular velocity of direction steering, body angle, angular velocity of body angle, wheel angle, angular velocity of wheel angle, heading angle, angular velocity of heading angle, yaw angle, angular velocity of yaw angle, torque, motor phase or distance to the target. The vertical direction can control at least one of the following: body height, body height acceleration, suspension height acceleration, seat height acceleration, vehicle center of mass height acceleration, suspension damping or suspension stiffness. It should be understood that the above parameters can be expressed based on absolute values, and the values ​​of the above parameters are positive, negative or zero.

[0104] Optionally, the functions of the vehicle control device may be deployed on other modules or devices of the vehicle, such as being deployed on at least one motor, and / or, a power CAN node, and / or, at least one regional module, and / or, at least one domain controller ( Figure 1C ), and / or, an intelligent control device. In this case, Figure 1C The vehicle control device may not be included, and the device or module that is communicatively connected to the vehicle control device should be communicatively connected to the device or module that implements the functions of the vehicle control device.

[0105] For example, the functions of the vehicle control device can be deployed on one of the at least one motors, and the motors other than the one of the at least one motors, the chassis CAN node, the chassis redundant CAN node, the power CAN node, at least one regional module, the intelligent control device, the throttle signal and the brake signal are all communicatively connected with the one of the motors.

[0106] For another example, the functions of the vehicle control device are split and deployed on at least one motor, and the chassis CAN node, chassis redundant CAN node, power CAN node, at least one regional module, intelligent control device, throttle signal and brake signal are all communicated with the at least one motor.

[0107] Figure 1CIn the embodiment, at least one motor can execute control instructions from a vehicle control device, and / or an intelligent control device, and / or a chassis CAN node, and execute the instructions. Exemplarily, at least one motor includes 1 motor, 2 motors, or 4 motors. For example, at least one motor includes a single motor on the front axle, a single motor on the rear axle, or two motors on the front and rear axles.

[0108] Optionally, the function of at least one motor can be deployed on other devices or modules of the vehicle, such as on a vehicle control device. In this case, Figure 1C At least one motor may not be included, and the device or module communicatively connected to the at least one motor should be communicatively connected to the device or module that deploys the functions of the at least one motor.

[0109] Figure 1C In the embodiment, the chassis CAN node may include at least one of the following nodes: a steering control node, a brake control node, a gear control node or a suspension control node. It should be understood that in a specific application, the chassis CAN node may also include other nodes without limitation. The nodes included in the chassis CAN node are connected to the same CAN through at least one of CAN, CANFD, CANXL or other buses.

[0110] Figure 1C In the embodiment, the chassis-type redundant CAN node is a redundant node of the chassis-type CAN node, which may include at least one of the following nodes: a steering control redundant node, a brake control redundant node, a gear control redundant node or a suspension control redundant node. It should be understood that in a specific application, the chassis-type redundant CAN node may also include other nodes without limitation. The nodes included in the chassis-type redundant CAN node are connected to the same CAN through at least one of CAN, CANFD, CANXL or other buses. The above redundancy can be understood as mechanical redundancy, and / or control redundancy, and / or drive redundancy.

[0111] Figure 1CIn the embodiment, the power CAN node includes at least one node of the power domain, and the power domain nodes included therein are connected to one CAN through at least one bus among CAN, CANFD, CANXL or other buses. The power CAN node can undertake the control execution of the whole vehicle power system. For example, the power CAN node includes at least one of the following: motor module, battery module, direct current (DC) to DC module (DCDC module), on board charger (OBC) module, power distribution unit (PDU), thermal management system (TMS), engine management system (EMS), VCU, traditional fuel vehicle engine or hybrid controller. Optionally, the CAN to which the power CAN node is connected can be divided into multiple network segments according to the CAN load rate.

[0112] Figure 1C In the system, at least one regional module can be distributed in various positions of the vehicle and has at least one of the following functions: regional access (such as: access to various GPIOs of the vehicle), interface expansion, regional power supply, regional drive (such as: ports with current can directly drive peripherals), regional communication (such as communication through routing, protocol conversion or forwarding, etc.) or taking over some control functions (such as vehicle body control functions, etc.). It can be understood that at least one regional module is an optional module and can be flexibly configured as needed.

[0113] Optionally, at least one regional module can communicate with the vehicle control device via at least one of the following methods: CAN, CANFD, CANXL, Ethernet, SPI, UART, PCIE, I2C, GPIO or other high-speed buses.

[0114] Understandably, Figure 1C The network architecture shown is only used as an example and is not used to limit the technical solution of the present application. Those skilled in the art should understand that in the specific implementation process, the network architecture may also include other modules, and the number of each module, each node or each device included in the network architecture may also be determined according to specific needs without limitation.

[0115] Optionally, the present application embodiment Figure 1A or Figure 1C Each device in (for example, Figure 1A The intelligent control device 101, Figure 1A The vehicle control device 102, Figure 1C Intelligent control device or Figure 1CThe vehicle control device in the vehicle, etc.) can also be referred to as a vehicle-mounted device, which can be a general device or a special device, and the embodiments of the present application do not make specific limitations on this.

[0116] Optionally, the present application embodiment Figure 1A or Figure 1C Each device in (for example, Figure 1A The intelligent control device 101, Figure 1A The vehicle control device 102, Figure 1C Intelligent control device or Figure 1C The relevant functions of the vehicle control device in the vehicle control device, etc. can be implemented by one device, or by multiple devices together, or by one or more functional modules in one device, and the embodiments of the present application do not specifically limit this. It can be understood that the above functions can be either components in a hardware device, or software functions running on dedicated hardware, or a combination of hardware and software, or virtualized functions instantiated on a platform (e.g., a cloud platform).

[0117] In specific implementation, the embodiments of the present application Figure 1A or Figure 1C Each device in (for example, Figure 1A The intelligent control device 101, Figure 1A The vehicle control device 102, Figure 1C Intelligent control device or Figure 1C Vehicle control devices in Figure 2 The structure shown, or including Figure 2 Parts shown. Figure 2 The figure shows a schematic diagram of the hardware structure of the vehicle-mounted device applicable to the embodiment of the present application. The vehicle-mounted device 20 includes at least one processor 201 and at least one communication interface 204, which are used to implement the method provided in the embodiment of the present application. The vehicle-mounted device 20 may also include a communication line 202 and a memory 203.

[0118] The processor 201 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0119] The communication link 202 may include a path to transmit information between the above-mentioned components, such as a bus.

[0120] The communication interface 204 is used to communicate with other devices or communication networks. The communication interface 204 can be any transceiver-like device, such as an Ethernet interface, a radio access network (RAN) interface, a wireless local area network (WLAN) interface, a transceiver, a pin, a bus, or a transceiver circuit.

[0121] The memory 203 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory may be independent and coupled to the processor 201 via the communication line 202. The memory 203 may also be integrated with the processor 201. The memory provided in the embodiment of the present application may generally be non-volatile.

[0122] Among them, the memory 203 is used to store the computer execution instructions involved in executing the scheme provided in the embodiment of the present application, and the execution is controlled by the processor 201. The processor 201 is used to execute the computer execution instructions stored in the memory 203, so as to implement the method provided in the embodiment of the present application. Alternatively, optionally, in the embodiment of the present application, the processor 201 may also perform the processing-related functions in the method provided in the following embodiment of the present application, and the communication interface 204 is responsible for communicating with other devices or communication networks, which is not specifically limited in the embodiment of the present application.

[0123] Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

[0124] The coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.

[0125] As an embodiment, the processor 201 may include one or more CPUs, such as Figure 2 CPU0 and CPU1 in.

[0126] As an embodiment, the vehicle-mounted device 20 may include multiple processors, such as Figure 2 201 and processor 207 in the embodiment of the present invention. Each of these processors may be a single-CPU processor or a multi-CPU processor. The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0127] As an embodiment, the vehicle-mounted device 20 may further include an output device 205 and / or an input device 206. The output device 205 is coupled to the processor 201 and can display information in a variety of ways. For example, the output device 205 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, or a cathode ray tube (CRT) display device. The input device 206 is coupled to the processor 201 and can receive user input in a variety of ways. For example, the input device 206 may be a touch screen device or a sensor device.

[0128] Understandably, Figure 2 The composition structure shown in the figure does not constitute a limitation on the vehicle-mounted device, except Figure 2 In addition to the components shown, the vehicle-mounted device may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0129] The following will describe the method provided by the embodiment of the present application in conjunction with the accompanying drawings. Each network element in the following embodiment may have Figure 2 The parts shown are not described in detail.

[0130] It can be understood that the method provided in the embodiments of the present application can be applied to multiple fields, for example: unmanned driving, automatic driving, assisted driving, intelligent driving, connected driving, intelligent connected driving, car sharing, etc.

[0131] It is understandable that the present application can be applied to manual driving scenarios, autonomous driving scenarios, assisted driving scenarios, and scenarios where two scenarios are transitioned (e.g., scenarios where manual driving scenarios are transitioned to autonomous driving scenarios (or assisted driving scenarios)). Optionally, the present application can also be applied to longitudinal motion control in each of the above scenarios, and / or, coordinated control of lateral motion and vertical motion in each of the above scenarios (e.g., coordinated control of at least two of steering, braking, or suspension).

[0132] It can be understood that the message names between the network elements or the names of the parameters in the messages in the following embodiments of the present application are merely examples, and other names may be used in specific implementations, and the embodiments of the present application do not specifically limit this.

[0133] It can be understood that in the embodiments of the present application, " / " can indicate that the objects associated with each other are in an "or" relationship, for example, A / B can indicate A or B; "and / or" can be used to describe that there are three relationships between the associated objects, for example, A and / or B can indicate: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In addition, expressions similar to "at least one of A, B and C" or "at least one of A, B or C" are usually used to indicate any of the following: A exists alone; B exists alone; C exists alone; A and B exist at the same time; A and C exist at the same time; B and C exist at the same time; A, B and C exist at the same time. The above uses A, B and C as examples to illustrate the optional items of the item. When there are more elements in the expression, the meaning of the expression can be obtained according to the above rules.

[0134] In order to facilitate the description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like may be used to distinguish between technical features with the same or similar functions. The words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the differences. In the embodiments of the present application, the words "exemplary" or "for example" are used to represent examples, illustrations or explanations, and any embodiment or design described as "exemplary" or "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or design. The use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0135] It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0136] It can be understood that in the present application, "when", "if" and "if" all mean that corresponding processing will be carried out under certain objective circumstances, but do not limit the time, nor do they require judgment actions when implementing them, nor do they mean the existence of other limitations.

[0137] The term “simultaneously” in the present application may be understood as at the same time point, within a period of time, or within the same cycle.

[0138] It can be understood that some optional features in the embodiments of the present application may be implemented independently in certain scenarios without relying on other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects, or may be combined with other features according to needs in certain scenarios. Accordingly, the devices provided in the embodiments of the present application may also realize these features or functions accordingly, which will not be elaborated here.

[0139] It can be understood that the same step or steps or technical features with the same functions in the embodiments of the present application can be referenced to each other in different embodiments.

[0140] It is understandable that in the embodiments of the present application, the intelligent control device and / or the vehicle control device can perform some or all of the steps in the embodiments of the present application, and these steps are only examples. The embodiments of the present application can also perform other steps or variations of various steps. In addition, the various steps can be performed in different orders presented in the embodiments of the present application, and it is possible that not all of the steps in the embodiments of the present application need to be performed.

[0141] like Figure 3 As shown, a method for allocating driving parameters provided in an embodiment of the present application is provided. Figure 3 In the example, the intelligent control device and the vehicle control device are used as the execution subjects of the interaction diagram to illustrate the method, but the present application does not limit the execution subjects of the interaction diagram. Figure 3The intelligent control device in the method may also be a chip, a chip system, or a processor that supports the intelligent control device to implement the method, or may be a logic module or software that can implement all or part of the functions of the intelligent control device; Figure 3 The vehicle control device in the method may also be a chip, a chip system, or a processor that supports the vehicle control device to implement the method, or a logic module or software that can implement all or part of the functions of the vehicle control device. The method for allocating driving parameters may include the following steps:

[0142] S301: The intelligent control device obtains driving parameters.

[0143] Among them, the intelligent control device can be Figure 1A The intelligent control device 101 or Figure 1C Intelligent control device in.

[0144] In the embodiment of the present application, the driving parameter may include at least one of the following: torque, vehicle speed, wheel speed, vehicle acceleration, motor phase angle, vehicle distance or wheel track. It is understandable that in specific applications, the driving parameter may also include other parameters without limitation.

[0145] It can be understood that the driving parameter can be expressed based on an absolute value, or the value of the driving parameter can be a positive number, a negative number or zero, without limitation.

[0146] In a possible implementation, the intelligent driving module obtains driving parameters. The intelligent driving module may be Figure 1B The intelligent driving module 1012 or Figure 1C The intelligent driving module in.

[0147] Exemplarily, after the intelligent driving function is activated (such as the driver presses or clicks the button of the intelligent driving function), the intelligent driving module obtains perception information (such as information captured by the camera, and / or information perceived by various radars, etc.), integrates and plans according to the perception information, obtains control requirements (such as turning left, braking or accelerating, etc.), and calculates driving parameters according to the control requirements.

[0148] Optionally, the intelligent driving module sends driving parameters to the MCU module. The MCU module can be Figure 1B MCU module 1011 or Figure 1C The MCU module in.

[0149] It can be understood that the intelligent driving module obtains driving parameters in real time and sends the driving parameters to the MCU module in real time. Alternatively, the intelligent driving module obtains driving parameters in real time, and sends the latest driving parameters to the MCU module when the driving parameters change greatly within a certain period of time. Alternatively, the intelligent driving module obtains driving parameters in real time and periodically sends the latest driving parameters to the MCU module.

[0150] S302: The intelligent control device determines the current driving scene.

[0151] In an embodiment of the present application, the current driving scenario includes an intelligent driving scenario, an intelligent driving low-speed scenario, an intelligent driving non-low-speed scenario, a normal manual driving scenario, or a manual driving failure scenario.

[0152] In one possible implementation, the intelligent control device detects that the intelligent driving mode is turned on, and determines that the current driving scene includes an intelligent driving scene; or, the intelligent control device detects that the intelligent driving mode is turned on and the vehicle speed is less than or equal to a first threshold, and determines that the current driving scene includes an intelligent driving low-speed scene; or, the intelligent control device detects that the intelligent driving mode is turned on and the vehicle speed is greater than the first threshold, and determines that the current driving scene includes an intelligent driving non-low-speed scene; or, the intelligent control device detects an abnormality in handshake with the vehicle control device, and determines that the current driving scene includes a manual driving failure scene; or, the communication between the intelligent control device and the vehicle control device is interrupted, and determines that the current driving scene includes a manual driving failure scene. The vehicle control device may be Figure 1A The vehicle control device 102 in the embodiment of the present invention, or Figure 1C Vehicle control device in.

[0153] Exemplarily, if the intelligent control device detects that a button of the intelligent driving function is pressed or clicked, the intelligent control device determines that the current driving scene includes an intelligent driving scene.

[0154] Exemplarily, if the intelligent control device detects that the button of the intelligent driving function is pressed or clicked, and the intelligent driving device detects that the speed of the vehicle in which it is located is less than or equal to the first threshold value (such as 40km / h), the intelligent driving device determines that the current driving scene includes an intelligent driving low-speed scene. Among them, the intelligent driving low-speed scene has high requirements (such as centimeter-level requirements) for the motion displacement control of the vehicle in which the intelligent driving device is located. For example, the intelligent driving low-speed scene includes a parking scene.

[0155] Exemplarily, if the intelligent control device detects that the button of the intelligent driving function is pressed or clicked, and the intelligent driving device detects that the speed of the vehicle in which it is located is greater than a first threshold (such as 40 km / h), the intelligent driving device determines that the current driving scene includes an intelligent driving non-low-speed scene.

[0156] Exemplarily, if the intelligent control device and the vehicle control device perform handshake detection through mechanisms such as heartbeat detection or interactive response, and the handshake detection is abnormal, the intelligent control device determines that the current driving scene includes a manual driving failure scene. It should be understood that the handshake detection in the embodiment of the present application may refer to handshake detection on at least one channel. For example, the intelligent control device and the vehicle control device perform handshake detection on at least one channel of CAN, CANFD, LIN, Sent or Ethernet through mechanisms such as heartbeat detection or interactive response.

[0157] Exemplarily, if both direct and indirect communications between the intelligent control device and the vehicle control device are interrupted (that is, the intelligent control device and the vehicle control device cannot communicate directly or indirectly), the intelligent control device determines that the current driving scenario includes a manual driving failure scenario.

[0158] It can be understood that the above-mentioned first threshold can be set as needed without limitation.

[0159] In one possible implementation, the MCU module in the intelligent control device determines the current driving scene.

[0160] It can be understood that the embodiments of the present application do not limit the execution order of S301 and S302. For example, S301 can be executed first and then S302, or S302 can be executed first and then S301, or S301 and S302 can be executed simultaneously.

[0161] S303: The intelligent control device sends driving parameters to the motor or the vehicle control device according to the current driving scenario.

[0162] The motor can be Figure 1A The motor 103 in, or Figure 1C at least one motor in.

[0163] A possible implementation method is that if the current driving scenario includes an intelligent driving scenario, an intelligent driving low-speed scenario, or a manual driving failure scenario, the intelligent control device sends driving parameters to the motor, and the motor receives the driving parameters accordingly; or, if the current driving scenario includes an intelligent driving non-low-speed scenario or a manual driving normal scenario, the intelligent control device sends driving parameters to the vehicle control device, and the vehicle control device receives the driving parameters accordingly.

[0164] It is understandable that intelligent driving scenarios or intelligent driving low-speed scenarios have higher requirements for the control accuracy of vehicle displacement. The intelligent control device does not send driving parameters to the motor through the vehicle control device, but directly sends driving parameters to the motor. This can reduce the response time of the motor (at least 10ms) and achieve high-precision vehicle displacement control.

[0165] It is understandable that in a manual driving failure scenario, the vehicle control device cannot work normally, so the intelligent driving device may not send driving parameters to the vehicle control device, but instead send driving parameters to the motor so that the vehicle can drive normally.

[0166] It is understandable that non-low-speed intelligent driving scenarios (for example, including adaptive cruise control scenarios on highways) do not require high control accuracy for vehicle displacement, nor do they require high control accuracy for the motor. The intelligent control device can send driving parameters to the motor through the vehicle control device so that the vehicle control device can coordinate the management of other functions of the vehicle, such as: at least one of the vehicle dynamics control function, vehicle kinematics control function, vehicle energy management function, vehicle speed limit function, or power system capacity limit function.

[0167] It can be understood that in a normal manual driving scenario, the intelligent control device sends driving parameters to the vehicle control device, which can provide a basis for the vehicle control device to calculate the driving parameters.

[0168] It is understandable that if the current scene includes a normal manual driving scene, the intelligent control device can also send driving parameters to the motor, and the motor can determine whether to use the driving parameters sent by the intelligent control device or the driving parameters sent by the vehicle control device.

[0169] It can be understood that the device or module that sends driving parameters to the motor or vehicle control device can be an MCU module in the intelligent control device.

[0170] The following specifically describes the case where the intelligent control device sends driving parameters to the vehicle control device and the case where the intelligent control device sends driving parameters to the motor.

[0171] First, the situation where the intelligent control device sends driving parameters to the vehicle control device is introduced:

[0172] In a possible implementation, when the handshake detection between the intelligent control device and the vehicle control device is normal, the intelligent control device sends the driving parameters to the vehicle control device.

[0173] It is understandable that the intelligent control device and the vehicle control device can periodically perform handshake detection through mechanisms such as heartbeat detection and / or interactive response to detect whether the intelligent control device and the vehicle control device are working properly. When the vehicle control device is working properly, the intelligent control device can send driving parameters to the vehicle control device to ensure that the vehicle can drive normally.

[0174] In a possible implementation, the intelligent control device sends driving parameters to the vehicle control device when the handshake detection with the vehicle control device is abnormal and the handshake detection between the motor or power device and the vehicle control device is normal. Figure 1C The power CAN node in the embodiment includes one or more nodes. In the embodiment of the present application, a plurality of nodes can be understood as two or more than two nodes, which are uniformly explained here and will not be repeated later.

[0175] It is understandable that if the intelligent control device detects an abnormality when shaking hands with the vehicle control device, it means that the intelligent control device or the vehicle control device is abnormal (or faulty), but the intelligent control device cannot determine which device is abnormal. Therefore, the intelligent control device can further determine the abnormal device through other devices or modules.

[0176] For example, if the handshake detection between the motor and the intelligent control device is normal, and the handshake detection between the motor and the vehicle control device is abnormal, it means that the intelligent control device is normal and the vehicle control device is abnormal. If the handshake detection between the motor and the intelligent control device is abnormal, and the handshake detection between the motor and the vehicle control device is normal, it means that the intelligent control device is abnormal and the vehicle control device is normal. If the handshake detection between the motor and the intelligent control device is normal, and the handshake detection between the motor and the vehicle control device is also normal, it means that both the intelligent control device and the vehicle control device are normal, but the communication link between the two is faulty. Similarly, the intelligent control device can further determine whether the intelligent control device and the vehicle control device are normal through the power device.

[0177] It can be understood that if the handshake detection between the intelligent control device and the vehicle control device is abnormal, and the handshake detection between the motor or power device and the vehicle control device is normal, it means that the vehicle control device is normal, so the intelligent control device can send driving parameters to the vehicle control device.

[0178] In a possible implementation, after the motor or power device performs handshake detection with the vehicle control device through mechanisms such as heartbeat detection and / or interactive response, the detection result is sent to the intelligent control device. Correspondingly, the intelligent control device receives the detection result. The detection result is used to indicate whether the handshake detection between the motor or power device and the vehicle control device is normal. In this way, the intelligent control device can further determine whether the vehicle control device is normal, and if the vehicle control device is normal, send driving parameters to the vehicle control device.

[0179] It is understandable that if before S303, the motor uses the driving parameters sent by the intelligent control device to control the vehicle, the intelligent control device can instruct the vehicle control device to prepare after determining to transfer the vehicle control right (or the power to allocate driving parameters) to the vehicle control device.

[0180] Exemplarily, before S303, the intelligent control device sends a first indication message to the vehicle control device. Correspondingly, the vehicle control device receives the first indication message. Among them, the first indication message can be used to indicate that the driving parameters are ready to be processed. For example, the first indication message includes a flag indicating that the driving parameters are ready to be processed. In this way, the vehicle control device can determine that the intelligent control device is ready to transfer the vehicle control right to itself, or can determine that the intelligent control device is ready to exit the intelligent driving mode. It is convenient for the intelligent control device to smoothly transfer the vehicle control right to the vehicle control device, avoid no device to allocate driving parameters within a period of time, or avoid multiple devices to allocate driving parameters within a period of time, and the motor does not know which device to use to allocate driving parameters, thereby improving the driving safety of the vehicle.

[0181] Optionally, after receiving the first indication information, the vehicle control device sends response information of the first indication information to the intelligent control device. Accordingly, the intelligent control device receives the response information, so that the intelligent control device determines that the vehicle control device has received the first indication information.

[0182] Optionally, the intelligent control device sends a first inspection message to the vehicle control device. Accordingly, after receiving the first inspection message, the vehicle control device sends a response message of the first inspection message to the intelligent control device. Accordingly, the intelligent control device receives the response message of the first inspection message. Among them, the first inspection message can be used to verify whether the preparation is complete, and the response message of the first inspection message can be used to indicate whether the preparation is complete. In this way, the intelligent control device can determine whether the vehicle control device is ready to take over the control of the vehicle, and send driving parameters to the vehicle control device when the vehicle control device is ready, so as to avoid handing over the control of the vehicle when the vehicle control device is not ready, so as to achieve a smooth takeover of the control of the vehicle and ensure driving safety.

[0183] It can be understood that after the intelligent control device receives the response information of the first inspection information, it stops sending the driving parameters to the motor. After the vehicle control device sends the response information of the first inspection information to the intelligent control device, it starts sending the driving parameters to the motor. At this time, the intelligent control device transfers the control right of the vehicle to the vehicle control device, realizing the smooth takeover of the control right of the vehicle and ensuring driving safety.

[0184] It is understandable that after receiving the driving parameters, the vehicle control device can send the driving parameters to the motor so that the motor controls the vehicle driving according to the driving parameters. Alternatively, after receiving the driving parameters, the vehicle control device updates the driving parameters and sends the updated driving parameters to the motor so that the motor controls the vehicle driving according to the updated driving parameters. When updating the driving parameters, the vehicle control device may refer to the received driving parameters or may not refer to the received driving parameters. In other words, the updated driving parameters may be obtained based on the received driving parameters or not based on the received driving parameters.

[0185] In a possible design, if a motor is configured in the vehicle, the vehicle control device sends the driving parameters corresponding to the motor to the motor. After receiving the driving parameters, the motor controls the vehicle to travel according to the driving parameters.

[0186] Another possible design is that if a plurality of motors are configured in the vehicle, the vehicle control device sends the driving parameters corresponding to each of the plurality of motors to the motor. In other words, the vehicle control device can assign driving parameters to each of the plurality of motors. After each motor receives its own driving parameters, it controls the vehicle to travel according to the driving parameters. Alternatively, if a plurality of motors are configured in the vehicle, the vehicle control device sends the total driving parameters corresponding to the plurality of motors to the first motor. After the first motor receives the total driving parameters, it can assign the corresponding driving parameters to each motor according to the total driving parameters. In other words, the vehicle control device does not assign driving parameters to each of the plurality of motors, but the first motor assigns the driving parameters. After each motor receives its corresponding driving parameters, it controls the vehicle to travel according to its corresponding driving parameters. Among them, the first motor is any one of the plurality of motors.

[0187] It can be understood that in the embodiments of the present application, the vehicle can be configured with multiple motors to achieve decoupling between vehicle control (such as an intelligent driving device or a vehicle control device) and vehicle execution (such as a motor), thereby getting rid of the strong dependence and adaptation of the intelligent driving device or the vehicle control device on a single motor.

[0188] Optionally, when allocating driving parameters, the vehicle control device or the first motor may allocate the driving parameters in combination with at least one of the current driving scenario, tire slip rate, vehicle yaw rate, or vehicle center of mass transfer.

[0189] Optionally, after the motor controls the vehicle according to the received driving parameters, the motor sends the actually executed driving parameters to the vehicle control device, wherein the actually executed driving parameters and the driving parameters received by the motor may be the same or different.

[0190] In a possible design, the driving parameters sent by the intelligent control device to the motor and the driving parameters sent by the vehicle control device to the motor can be based on the same message identifier. In other words, the identifier of the message including the driving parameters sent by the intelligent control device to the motor is the same as the identifier of the message including the driving parameters sent by the vehicle control device to the motor. In this way, the motor does not need to sense the device sending the driving parameters, simplifying the operation of the motor.

[0191] In another possible design, the driving parameters sent by the intelligent control device to the motor and the driving parameters sent by the vehicle control device to the motor can be based on different message identifiers. In other words, the identifier of the message including the driving parameters sent by the intelligent control device to the motor and the identifier of the message including the driving parameters sent by the vehicle control device to the motor are different. In this way, the motor can determine the device sending the driving parameters, and then use the driving parameters sent by the appropriate device as needed.

[0192] It can be understood that the above-mentioned message can be a CAN message, a CANFD message or an Ethernet message, etc., without limitation.

[0193] The following describes the situation where the intelligent control device sends driving parameters to the motor:

[0194] In a possible implementation, when the handshake detection between the intelligent control device and the vehicle control device is normal, the intelligent control device sends the driving parameters to the vehicle control device.

[0195] In an embodiment of the present application, the intelligent control device and the motor can periodically perform handshake detection through mechanisms such as heartbeat detection and / or interactive response to detect whether the intelligent control device and the motor are working properly. The intelligent control device can send driving parameters to the motor when the motor is working properly, so that the motor controls the vehicle according to the driving parameters. Optionally, after the motor controls the vehicle according to the received driving parameters, it sends the actually executed driving parameters to the intelligent control device. The actually executed driving parameters and the driving parameters received by the motor can be the same or different.

[0196] In a possible design, if a motor is configured in the vehicle, the intelligent control device sends the driving parameters corresponding to the motor to the motor. After receiving the driving parameters, the motor controls the vehicle to travel according to the driving parameters. In other words, the driving parameters sent by the intelligent control device to the motor include the driving parameters corresponding to the motor.

[0197] Another possible design is that if multiple motors are configured in the vehicle, the intelligent control device sends the driving parameters corresponding to each of the multiple motors to the motor. That is to say, the intelligent control device can assign driving parameters to each of the multiple motors, and the driving parameters sent by the intelligent control device to the motor include the driving parameters assigned to each of the multiple motors. After each motor receives its own driving parameters, it controls the vehicle to travel according to the driving parameters. Alternatively, if multiple motors are configured in the vehicle, the intelligent control device sends the total driving parameters corresponding to the multiple motors to the first motor, and after the first motor receives the total driving parameters, it can assign its corresponding driving parameters to each motor according to the total driving parameters. That is to say, the intelligent control device does not assign driving parameters to each of the multiple motors, but the first motor assigns driving parameters. After each motor receives its corresponding driving parameters, it controls the vehicle to travel according to its corresponding driving parameters. Among them, the first motor is any one of the multiple motors.

[0198] Optionally, when allocating driving parameters, the intelligent control device or the first motor may allocate the driving parameters in combination with at least one of the current driving scenario, tire slip rate, vehicle yaw rate, or vehicle center of mass transfer.

[0199] It can be understood that when multiple motors are configured in a vehicle and the intelligent control device sends the driving parameters corresponding to each of the multiple motors to the motor, the driving parameters corresponding to each motor can be calculated by the MCU module and sent to each motor, or calculated by the intelligent driving module and sent to each motor through the MCU module, without restriction.

[0200] It is understandable that in order to improve the stability of the vehicle during emergency operations and the comfort of the driver and passengers, the intelligent control device can coordinate the processing of driving parameters, or instruct the motor to coordinate the processing of driving parameters.

[0201] In a possible implementation, the driving parameters sent by the intelligent control device to the motor are parameters obtained after collaborative processing.

[0202] In another possible implementation, the intelligent control device detects whether the collaborative processing function of the driving parameters is turned on, and sends a second indication message to the motor when the collaborative processing function is turned on (e.g., the button of the collaborative processing function is pressed or clicked). Accordingly, the motor receives the second indication message. The second indication message can be used to indicate the collaborative processing of the driving parameters. The collaborative processing can include collaborative control in at least two directions of the horizontal, longitudinal or vertical directions. In this way, the motor can collaboratively process the driving parameters.

[0203] For example, taking the longitudinal and vertical coordinated control of the motor as an example, when the vehicle is driving at high speed (longitudinal control), the motor synchronously increases the suspension height acceleration (vertical control) to improve vehicle stability and thus enhance ride comfort.

[0204] For example, taking the longitudinal and lateral coordinated control of the motor as an example, when the vehicle needs to make a sharp turn right during driving (longitudinal control), the motor synchronously reduces the angular velocity of the right front wheel and increases the angular velocity of the left rear wheel to improve vehicle stability and thereby improve ride comfort.

[0205] It is understandable that if the current driving scenario includes a manual driving failure scenario, it means that the vehicle control device is abnormal. At this time, the intelligent control device can serve as a redundant device for the vehicle control device, executing all or part of the operations of the vehicle control device, so that the vehicle can drive normally in the manual driving failure scenario, ensuring the safety of vehicle driving. That is, the intelligent control device has all or part of the functions of the vehicle control device and can smoothly take over the control of the vehicle.

[0206] A possible design is that if the intelligent control device is connected to the throttle signal and the brake signal, the intelligent control device has all the functions of the vehicle control device; or, if the intelligent control device is not connected to the throttle signal and the brake signal, the intelligent control device has some of the functions of the vehicle control device.

[0207] For example, if the intelligent control device is connected to the throttle signal and the brake signal, the intelligent control device has at least one of the following functions: the driving parameter calculation function of the manual driving scene, the driving parameter connection and takeover function when the intelligent driving scene exits, the driving parameter allocation control function of multiple motors, the multi-directional collaborative control function, the vehicle driving capacity limitation protection function, the vehicle mode management and supporting functions, the handshake detection function with the intelligent driving device, the function of switching the control of the vehicle between the intelligent driving device, the handshake detection function with at least one motor, or the handshake detection function with the power CAN node. If the intelligent control device is not connected to the throttle signal and the brake signal, the intelligent control device has at least one of the following functions: the driving parameter calculation function of the manual driving scene, the driving parameter allocation control function of multiple motors, the vehicle driving capacity limitation protection function, the vehicle mode management and supporting functions, the handshake detection function with the intelligent driving device, the function of switching the control of the vehicle between the intelligent driving device, the handshake detection function with at least one motor, or the handshake detection function with the power CAN node.

[0208] In a possible design, the intelligent control device and the vehicle control device may adopt the same software architecture, so that the software architecture is unified, so as to realize the intelligent control device as a redundant device of the vehicle control device, thereby ensuring the safe driving of the vehicle.

[0209] The actions of the intelligent control device or vehicle control device in S301-S303 can be performed by Figure 2 The processor 201 in the vehicle-mounted device 20 shown calls the application code stored in the memory 203 for execution, and the embodiment of the present application does not impose any limitation on this.

[0210] based on Figure 3 According to the method shown, the intelligent control device can obtain driving parameters, determine the current driving scene, and allocate driving parameters according to the current driving scene, thereby enriching the working modes among the intelligent control device, the vehicle control device and the motor, so that the final way of allocating driving parameters is suitable for the current driving scene.

[0211] In order to facilitate understanding of the method for allocating driving parameters provided in the embodiment of the present application, Figure 4 The method shown is used as an example to introduce the complete process of the method for allocating driving parameters provided in the embodiment of the present application. It should be understood that Figure 3 The explanations of the various steps and features in the method shown are applicable to Figure 4 The method shown, Figure 4 The explanations of the various steps and features in the method shown also apply to Figure 3 The method shown.

[0212] like Figure 4 As shown, another method for allocating driving parameters provided in an embodiment of the present application. Figure 4 In the example, the intelligent driving module, the MCU module and the vehicle control device are used as the execution subjects of the interaction diagram to illustrate the method, but the present application does not limit the execution subjects of the interaction diagram. For example, Figure 4 The intelligent driving module may also be a chip, a chip system, or a processor that supports the intelligent driving module to implement the method, or may be a logic module or software that can implement all or part of the functions of the intelligent driving module; Figure 4 The MCU module in the method may also be a chip, a chip system, or a processor that supports the MCU module to implement the method, or may be a logic module or software that can implement all or part of the functions of the MCU module; Figure 4 The vehicle control device in the method may also be a chip, a chip system, or a processor that supports the vehicle control device to implement the method, or a logic module or software that can implement all or part of the functions of the vehicle control device. The method for allocating driving parameters may include the following steps:

[0213] It can be understood that if the intelligent driving function is activated, S401 to S418 are executed, and if the intelligent driving function is not activated, S419 to S421 are executed.

[0214] S401: The intelligent driving module obtains the first driving parameter.

[0215] Among them, the intelligent driving module can be Figure 1C The intelligent driving module in.

[0216] S402: The intelligent driving module sends the first driving parameter to the MCU module. Correspondingly, the MCU module receives the first driving parameter.

[0217] Among them, the MCU module can be Figure 1C The MCU module in.

[0218] S403: The MCU module determines the current driving scene.

[0219] If the current driving scenario includes an intelligent driving scenario, an intelligent driving low-speed scenario or a manual driving failure scenario, execute S404 to S405; if the current driving scenario includes an intelligent driving non-low-speed scenario or a manual driving normal scenario, execute S406 to S408; if the current scenario includes a vehicle control device and an intelligent control device collaborative scenario, execute S409 to S418.

[0220] Among them, the scenario of the collaboration between the vehicle control device and the intelligent control device can be understood as the scenario in which the intelligent control device transfers the vehicle control right to the vehicle control device after the intelligent driving function is activated, or the scenario in which the intelligent driving function is activated in the normal manual driving scenario and the vehicle control device transfers the vehicle control right to the intelligent control device. S409 to S418 are described by taking the intelligent control device transferring the vehicle control right to the vehicle control device as an example. The situation in which the vehicle control device transfers the vehicle control right to the intelligent control device is similar to the situation in which the intelligent control device transfers the vehicle control right to the vehicle control device. You can refer to the corresponding description in S409 to S418 and will not repeat them.

[0221] S404: The MCU module sends a second driving parameter to at least one motor. Correspondingly, at least one motor receives the second driving parameter.

[0222] Wherein at least one motor may be Figure 1C The second driving parameter is the same as the first driving parameter, or the second driving parameter is different from the first driving parameter.

[0223] In a possible implementation manner, the second driving parameter is obtained according to the first driving parameter.

[0224] As an example, the first driving parameter includes the total driving parameter corresponding to the multiple motors, and the second driving parameter includes the driving parameter corresponding to each of the multiple motors.

[0225] As another example, when the MCU module detects that the collaborative processing function of driving parameters is turned on, the first driving parameter is collaboratively processed to obtain the second driving parameter, and the second driving parameter is sent to at least one motor, so that at least one motor can collaboratively control at least two directions of the lateral, longitudinal or vertical directions according to the second driving parameter, thereby improving the stability of the vehicle and the comfort of the driver and passengers. It is understandable that when the MCU module detects that the collaborative processing function of driving parameters is not turned on, the first driving parameter is sent to at least one motor.

[0226] S405: At least one motor controls the vehicle to travel according to the second driving parameter.

[0227] It can be understood that after S405, if the current driving scene includes an intelligent driving scene, an intelligent driving low-speed scene, or a manual driving failure scene, S404 to S405 are executed; if the current driving scene includes an intelligent driving non-low-speed scene or a manual driving normal scene, S406 to S408 are executed; if the current scene includes a vehicle control device and an intelligent control device collaboration scene, S409 to S418 are executed. The difference is that the second driving parameter in S404, S406, S413, or S417 is the driving parameter most recently obtained by the MCU module.

[0228] S406: The MCU module sends the second driving parameter to the vehicle control device. Correspondingly, the vehicle control device receives the second driving parameter.

[0229] Among them, the vehicle control device can be Figure 1C The second driving parameter is the same as the first driving parameter, or the second driving parameter is different from the first driving parameter.

[0230] In a possible implementation manner, the second driving parameter is obtained according to the first driving parameter.

[0231] As an example, the first driving parameter includes the total driving parameter corresponding to the multiple motors, and the second driving parameter includes the driving parameter corresponding to each of the multiple motors.

[0232] As another example, when the MCU module detects that the collaborative processing function of the driving parameters is turned on, it collaboratively processes the first driving parameter to obtain the second driving parameter, and sends the second driving parameter to the vehicle control device. Subsequently, the vehicle control device can send the second driving parameter to at least one motor, so that at least one motor collaboratively controls at least two directions of the lateral, longitudinal or vertical directions according to the second driving parameter, thereby improving the stability of the vehicle and the comfort of the driver and passengers. It is understandable that when the MCU module detects that the collaborative processing function of the driving parameters is not turned on, it sends the first driving parameter to the vehicle control device.

[0233] S407: The vehicle control device sends the third driving parameter to at least one motor. Correspondingly, at least one motor receives the third driving parameter.

[0234] The third driving parameter is the same as or different from the second driving parameter. In other words, the vehicle control device may not process the second driving parameter and directly send the second driving parameter to at least one motor, or the vehicle control device obtains the third driving parameter based on the second driving parameter and sends the third driving parameter to at least one motor. For example, the second driving parameter includes the total driving parameter corresponding to the multiple motors, and the third driving parameter includes the driving parameter corresponding to each of the multiple motors.

[0235] S408: At least one motor controls the vehicle to travel according to the third driving parameter.

[0236] It can be understood that after S408, if the current driving scene includes an intelligent driving scene, an intelligent driving low-speed scene, or a manual driving failure scene, S404 to S405 are executed; if the current driving scene includes an intelligent driving non-low-speed scene or a manual driving normal scene, S406 to S408 are executed; if the current scene includes a vehicle control device and an intelligent control device collaboration scene, S409 to S418 are executed. The difference is that the second driving parameter in S404, S406, S413, or S417 is the driving parameter most recently obtained by the MCU module.

[0237] S409: The intelligent driving module sends third indication information to the MCU module and the vehicle control device. Correspondingly, the MCU module and the vehicle control device receive the third indication information.

[0238] Among them, the third indication information can be used to indicate that the intelligent driving function is turned off.

[0239] S410: The MCU module sends first indication information to the vehicle control device. Correspondingly, the vehicle control device receives the first indication information.

[0240] It can be understood that when the handshake detection between the intelligent control device and the vehicle control device is normal, or when the handshake detection between the intelligent control device and the vehicle control device is abnormal and the handshake detection between the motor or power device and the vehicle control device is normal, the MCU module sends the first indication information to the vehicle control device. The first indication information can be used to indicate that the driving parameters are ready to be processed.

[0241] Optionally, after receiving the first indication information, the vehicle control device sends a response message of the first indication information to the MCU module. Accordingly, the MCU module receives the response message, so that the MCU module determines that the vehicle control device has received the first indication information.

[0242] S411: The MCU module sends first inspection information to the vehicle control device. Correspondingly, the vehicle control device receives the first inspection information.

[0243] For example, after S410, the MCU module waits for a period of time (such as 10 ms) and then sends first inspection information to the vehicle control device. The first inspection information can be used to inspect whether the vehicle control device is ready.

[0244] S412: The vehicle control device sends the response information of the first inspection information to the MCU module. Correspondingly, the MCU module receives the response information of the first inspection information.

[0245] The response information of the first inspection information can be used to indicate whether the vehicle control device is ready.

[0246] It can be understood that if the response information of the first inspection information indicates that the vehicle control device is ready, the MCU module stops sending driving parameters to at least one motor, and the vehicle control device starts sending driving parameters to at least one motor. For details, please refer to the introduction in S413 to S415 below.

[0247] It can be understood that if the response information of the first inspection information indicates that the vehicle control device is not ready, or the MCU module has not received the response information of the first inspection information, the MCU module will send the first inspection information to the vehicle control device again. After the MCU module tries to send N times, the vehicle control device is still not ready, or the MCU module has not received the response information of the first inspection information. The MCU module reports a warning or fault message and continues to control the vehicle to at least complete this driving cycle. At this time, the MCU module has all or part of the functions of the vehicle control device. Among them, N can be set as needed. This driving cycle can be understood as starting from the MCU module sending driving parameters to at least one motor to the end of at least one motor controlling the vehicle to travel according to the driving parameters. For details, please refer to the introduction in S416 to S418 below.

[0248] S413: When the response information of the first inspection information indicates that the vehicle control device is ready, the MCU module sends the second driving parameter to the vehicle control device. Correspondingly, the vehicle control device receives the second driving parameter.

[0249] S414: The vehicle control device sends the fourth driving parameter to at least one motor. Correspondingly, at least one motor receives the third driving parameter.

[0250] S415: At least one motor controls the vehicle to travel according to the fourth driving parameter.

[0251] The introduction of the above S413 to S415 can refer to the corresponding description of the above S406 to S408, which will not be repeated here.

[0252] S416: The MCU module reports warning or fault information.

[0253] For example, the MCU module reports warning or fault information to at least one of the following devices or modules: instrument cluster module (ICM), dashboard, cockpit domain controller (CDC), human machine interface (HMI) or in-vehicle infotainment (IVI) system.

[0254] S417: The MCU module sends a second driving parameter to at least one motor. Correspondingly, at least one motor receives the second driving parameter.

[0255] One possible design is that if the intelligent control device is connected to the throttle signal and the brake signal, the MCU module has all the functions of the vehicle control device; or, if the intelligent control device is not connected to the throttle signal and the brake signal, the MCU module has some of the functions of the vehicle control device.

[0256] S418: At least one motor controls the vehicle driving according to the second driving parameter.

[0257] It can be understood that after S418, if the current driving scene includes an intelligent driving scene, an intelligent driving low-speed scene, or a manual driving failure scene, S404-S405 is executed; the current driving scene includes an intelligent driving non-low-speed scene or a manual driving normal scene, S406-S408 is executed; the current scene includes a vehicle control device and an intelligent control device collaboration scene, S409-S418 is executed. The difference is that the second driving parameter in S404, S406, S413 or S417 is the driving parameter most recently obtained by the MCU module.

[0258] S419: The vehicle control device obtains the fifth driving parameter.

[0259] For example, the vehicle control device calculates the fifth driving parameter by identifying and judging various driving requests of the driver (such as braking, accelerating, releasing the brake, releasing the accelerator, shifting gears or turning, etc.).

[0260] S420: The vehicle control device sends the fifth driving parameter to at least one motor. Correspondingly, at least one motor receives the fifth driving parameter.

[0261] S421: At least one motor controls the vehicle driving according to the fifth driving parameter.

[0262] It can be understood that, after S421, if the intelligent driving function is activated, S401 to S418 are executed, and if the intelligent driving function is not activated, S419 to S421 are executed.

[0263] The actions of the intelligent driving module, MCU module or vehicle control device in the above S401-S421 can be performed by Figure 2 The processor 201 in the vehicle-mounted device 20 shown calls the application code stored in the memory 203 for execution, and the embodiment of the present application does not impose any limitation on this.

[0264] based on Figure 4 In the method shown, when the intelligent driving function is activated, the intelligent driving module can obtain the first driving parameter and send the first driving parameter to the MCU module. The MCU module can determine the current driving scene and allocate driving parameters according to the current driving scene, enriching the working mode between the intelligent driving module, the MCU module, the vehicle control device and the motor, so that the final way of allocating driving parameters is suitable for the current driving scene. When the intelligent driving function is not activated, the vehicle control device can obtain the fifth driving parameter and send the fifth driving parameter to at least one motor to ensure the normal driving of the vehicle.

[0265] The various embodiments mentioned above in this application can be combined without limitation if there is no contradiction between the solutions.

[0266] The above mainly introduces the scheme provided by the embodiment of the present application from the perspective of interaction between various devices. Accordingly, the embodiment of the present application also provides a vehicle-mounted device, which can be an intelligent control device in the above method embodiment, or a device including the above intelligent control device, or a component that can be used for an intelligent control device; or, the vehicle-mounted device can be a vehicle control device in the above method embodiment, or a device including the above vehicle control device, or a component that can be used for a vehicle control device. It can be understood that in order to realize the above functions, the above intelligent control device or vehicle control device, etc., includes a hardware structure and / or software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the units and algorithm operations of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0267] The embodiment of the present application can divide the functional modules of the intelligent control device or the vehicle control device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It can be understood that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0268] For example, when the functional modules are divided in an integrated manner, Figure 5 The schematic diagram of the structure of a vehicle-mounted device 50 is shown. The vehicle-mounted device 50 includes a processing module 501 and a transceiver module 502. The processing module 501, which may also be referred to as a processing unit, is used to perform operations other than transceiver operations, and may be, for example, a processing circuit or a processor. The transceiver module 502, which may also be referred to as a transceiver unit, is used to perform transceiver operations, and may be, for example, a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0269] In some embodiments, the vehicle-mounted device 50 may also include a storage module ( Figure 5 ), for storing program instructions and data.

[0270] For example, the vehicle-mounted device 50 is used to implement the functions of the intelligent control device. Figure 3 The intelligent control device described in the embodiment shown, or Figure 4 The intelligent driving module and MCU module described in the embodiment shown.

[0271] The processing module 501 is used to obtain driving parameters. For example, the processing module 501 can be used to execute S301.

[0272] The processing module 501 is also used to determine the current driving scene. The current driving scene includes an intelligent driving scene, an intelligent driving low-speed scene, an intelligent driving non-low-speed scene, a normal manual driving scene, or a manual driving failure scene. For example, the processing module 501 is also used to execute S302.

[0273] The transceiver module 502 is used to send driving parameters to the motor or the vehicle control device according to the current driving scene. For example, the transceiver module 502 can be used to execute S303.

[0274] A possible implementation method is that the processing module 501 is specifically used to: detect that the intelligent driving mode is turned on, and determine that the current driving scene includes an intelligent driving scene; or, detect that the intelligent driving mode is turned on and the vehicle speed is less than or equal to a first threshold, and determine that the current driving scene includes an intelligent driving low-speed scene; or, detect that the intelligent driving mode is turned on and the vehicle speed is greater than the first threshold, and determine that the current driving scene includes an intelligent driving non-low-speed scene; or, determine that the handshake detection with the vehicle control device is abnormal or the communication with the vehicle control device is interrupted, and determine that the current driving scene includes a manual driving failure scene.

[0275] One possible implementation method is that the transceiver module 502 is specifically used to: when the current driving scenario includes an intelligent driving scenario, an intelligent driving low-speed scenario, or a manual driving failure scenario, send driving parameters to the motor; or, when the current driving scenario includes an intelligent driving non-low-speed scenario or a manual driving normal scenario, send driving parameters to the vehicle control device.

[0276] In a possible implementation, the transceiver module 502 is further specifically configured to send driving parameters to the vehicle control device when the handshake detection with the vehicle control device is normal.

[0277] In a possible implementation, the transceiver module 502 is further specifically used to send driving parameters to the vehicle control device when the handshake detection with the vehicle control device is abnormal and the handshake detection between the motor or power device and the vehicle control device is normal.

[0278] In a possible implementation, the transceiver module 502 is further used to receive a detection result from the motor or power device, and the detection result is used to indicate whether the handshake detection between the motor or power device and the vehicle control device is normal.

[0279] In a possible implementation, the transceiver module 502 is further used to send first indication information to the vehicle control device, where the first indication information is used to indicate that the driving parameters are ready to be processed.

[0280] In a possible implementation, the transceiver module 502 is also used to send first verification information to the vehicle control device, and the first verification information is used to verify whether the preparation is complete; the transceiver module 502 is also used to receive response information to the first verification information from the vehicle control device, and the response information is used to indicate that the preparation is complete.

[0281] In a possible implementation, the current driving scenario includes a manual driving failure scenario, and the vehicle-mounted device 50 has all or part of the functions of the vehicle control device.

[0282] In one possible implementation, the vehicle-mounted device 50 is connected to the throttle signal and the brake signal, and the vehicle-mounted device 50 has all the functions of the vehicle control device; or, the vehicle-mounted device 50 is not connected to the throttle signal and the brake signal, and the vehicle-mounted device 50 has some functions of the vehicle control device.

[0283] In a possible implementation, the processing module 501 is also used to detect whether the collaborative processing function of the driving parameters is turned on; the transceiver module 502 is also used to send a second indication information to the motor when the collaborative processing function is turned on, and the second indication information is used to indicate the collaborative processing of the driving parameters.

[0284] In a possible implementation, the driving parameter includes at least one of the following: torque, vehicle speed, wheel speed, vehicle acceleration, motor phase angle, vehicle distance or wheel track.

[0285] In one possible implementation, the vehicle control device is a vehicle control unit, a vehicle control domain controller, a hybrid power control unit or a multi-domain controller.

[0286] When used to realize the function of the intelligent control device, for other functions that the vehicle-mounted device 50 can realize, refer to Figure 3 The embodiment shown or Figure 4 The relevant introduction of the method embodiment shown is not repeated here.

[0287] In a simple embodiment, those skilled in the art can imagine that the vehicle-mounted device 50 can be used Figure 2 For example, Figure 2 The processor 201 in the vehicle device 50 can call the computer execution instructions stored in the memory 203 to enable the vehicle device 50 to execute the method described in the above method embodiment.

[0288] For example, Figure 5 The functions / implementation processes of the processing module 501 and the transceiver module 502 can be Figure 2 The processor 201 in the embodiment calls the computer execution instruction stored in the memory 203 to implement. Or, Figure 5 The function / implementation process of the processing module 501 in can be Figure 2 The processor 201 in the embodiment calls the computer execution instruction stored in the memory 203 to implement, Figure 5 The function / implementation process of the transceiver module 502 can be achieved by Figure 2 This is achieved by the communication interface 204 in .

[0289] For example, when the functional modules are divided in an integrated manner, Figure 6A schematic diagram of the structure of a vehicle-mounted device 60 is shown. The vehicle-mounted device 60 includes a transceiver module 601. Optionally, the vehicle-mounted device 60 also includes a processing module 602. The transceiver module 601, which may also be referred to as a transceiver unit, is used to perform transceiver operations, and may be, for example, a transceiver circuit, a transceiver, a transceiver or a communication interface. The processing module 602, which may also be referred to as a processing unit, is used to perform operations other than transceiver operations, and may be, for example, a processing circuit or a processor.

[0290] In some embodiments, the vehicle-mounted device 60 may further include a storage module ( Figure 6 ), for storing program instructions and data.

[0291] For example, the vehicle-mounted device 60 is used to implement the function of the vehicle control device. Figure 3 The embodiment shown or Figure 4 The vehicle control device described in the embodiment shown.

[0292] The transceiver module 601 is used to receive first indication information from the intelligent control device. The first indication information is used to indicate that the driving parameters are ready to be processed. For example, the transceiver module 601 can be used to execute S410.

[0293] The transceiver module 601 is also used to receive the first driving parameter from the intelligent control device. For example, the transceiver module 601 can be used to execute S413.

[0294] The transceiver module 601 is also used to send a second driving parameter to the motor, wherein the second driving parameter is obtained according to the first driving parameter. For example, the transceiver module 601 can be used to execute S414.

[0295] In a possible implementation, the transceiver module 601 is also used to receive first inspection information from the intelligent control device, and the first inspection information is used to verify whether the preparation is complete; the transceiver module 601 is also used to send response information of the first inspection information to the intelligent control device, and the response information is used to indicate that the preparation is complete.

[0296] In a possible implementation, the processing module 602 is used to perform a handshake detection with the intelligent control device and the handshake detection with the intelligent control device is normal; or, the processing module 602 is used to perform an abnormal handshake detection with the intelligent control device, but the handshake detection with the motor or power device is normal.

[0297] In a possible implementation, the first driving parameter includes at least one of the following: torque, vehicle speed, wheel speed, vehicle acceleration, motor phase angle, vehicle distance or wheel track.

[0298] In one possible implementation, the intelligent control device is an autonomous driving system, an advanced driver assistance system, a multi-domain controller, an autonomous driving control unit, or a high-performance computing center.

[0299] When used to implement the function of the vehicle control device, for other functions that the vehicle-mounted device 60 can implement, refer to Figure 3 The embodiment shown or Figure 4 The relevant introduction of the method embodiment shown is not repeated here.

[0300] In a simple embodiment, those skilled in the art will appreciate that the vehicle-mounted device 60 may be configured as follows: Figure 2 For example, Figure 2 The processor 201 in the vehicle device 60 can call the computer execution instructions stored in the memory 203 to enable the vehicle device 60 to execute the method described in the above method embodiment.

[0301] For example, Figure 6 The functions / implementation processes of the transceiver module 601 and the processing module 602 can be Figure 2 The processor 201 in the embodiment calls the computer execution instruction stored in the memory 203 to implement. Or, Figure 6 The function / implementation process of the processing module 602 in Figure 2 The processor 201 in the embodiment calls the computer execution instruction stored in the memory 203 to implement, Figure 6 The function / implementation process of the transceiver module 601 can be Figure 2 This is achieved by the communication interface 204 in .

[0302] It is understandable that one or more of the above modules or units can be implemented by software, hardware or a combination of the two. When any of the above modules or units is implemented in software, the software exists in the form of computer program instructions and is stored in a memory, and a processor can be used to execute the program instructions and implement the above method flow. The processor can be built into an SoC (system on chip) or an ASIC, or it can be an independent semiconductor chip. In addition to the core used to execute software instructions for calculation or processing in the processor, it can also further include necessary hardware accelerators, such as field programmable gate arrays (FPGA), PLDs (programmable logic devices), or logic circuits that implement dedicated logic operations.

[0303] When the above modules or units are implemented in hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, an MCU, an artificial intelligence processor, an ASIC, a SoC, an FPGA, a PLD, a dedicated digital circuit, a hardware accelerator or a non-integrated discrete device, which can run the necessary software or not rely on the software to execute the above method flow.

[0304] Optionally, an embodiment of the present application further provides a chip system, including: at least one processor and an interface, the at least one processor is coupled to a memory through the interface, and when the at least one processor executes a computer program or instruction in the memory, the method in any of the above method embodiments is executed. In a possible implementation, the chip system also includes a memory. Optionally, the chip system can be composed of a chip, or it can include a chip and other discrete devices, which is not specifically limited in the embodiment of the present application.

[0305] Optionally, an embodiment of the present application further provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by a computer program to instruct the relevant hardware, and the program can be stored in the above computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be an internal storage unit of the vehicle-mounted device of any of the above embodiments, such as a hard disk or memory of the vehicle-mounted device. The above computer-readable storage medium can also be an external storage device of the above vehicle-mounted device, such as a plug-in hard disk, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. equipped on the above vehicle-mounted device. Further, the above computer-readable storage medium can also include both the internal storage unit of the above vehicle-mounted device and an external storage device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the above vehicle-mounted device. The above computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0306] Optionally, the present application also provides a computer program product. All or part of the processes in the above method embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in the above computer program product. When the program is executed, it can include the processes of the above method embodiments.

[0307] Optionally, the embodiment of the present application further provides a computer instruction. All or part of the processes in the above method embodiment can be completed by computer instructions to instruct related hardware (such as a computer, a processor, an access network device, a mobility management network element or a session management network element, etc.). The program can be stored in the above computer-readable storage medium or in the above computer program product.

[0308] Optionally, an embodiment of the present application also provides an intelligent driving vehicle, including the intelligent control device and / or vehicle control device in the above embodiment.

[0309] Optionally, an embodiment of the present application further provides a vehicle-mounted system, comprising: the intelligent control device and the vehicle control device in the above embodiment.

[0310] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0311] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0312] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0313] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0314] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for allocating driving parameters, characterized in that: The method comprises: Get driving parameters; Determine a current driving scenario, where the current driving scenario includes an intelligent driving scenario, an intelligent driving low-speed scenario, an intelligent driving non-low-speed scenario, a manual driving normal scenario, or a manual driving failure scenario; Sending the driving parameters to the motor or the vehicle control device according to the current driving scene; The sending the driving parameter to the motor or the vehicle control device according to the current driving scene includes: The current driving scenario includes an intelligent driving scenario, an intelligent driving low-speed scenario, or a manual driving failure scenario, and the driving parameters are sent to the motor; or, The current driving scenario includes an intelligent driving non-low-speed scenario or a manual driving normal scenario, and the driving parameters are sent to the vehicle control device.

2. The method according to claim 1, characterized in that: The determining of the current driving scene includes: detecting that the intelligent driving mode is turned on, and determining that the current driving scene includes the intelligent driving scene; or, It is detected that the intelligent driving mode is turned on and the vehicle speed is less than or equal to a first threshold, and it is determined that the current driving scene includes the intelligent driving low-speed scene; or, It is detected that the intelligent driving mode is turned on and the vehicle speed is greater than a first threshold, and it is determined that the current driving scene includes the intelligent driving non-low-speed scene; or, A handshake detection exception with the vehicle control device or a communication interruption with the vehicle control device determines that the current driving scenario includes the manual driving failure scenario.

3. The method according to claim 1 or 2, characterized in that: The sending the driving parameter to the vehicle control device comprises: When the handshake detection with the vehicle control device is normal, the driving parameters are sent to the vehicle control device.

4. The method according to claim 1 or 2, characterized in that: The sending the driving parameter to the vehicle control device comprises: When the handshake detection with the vehicle control device is abnormal and the handshake detection with the motor or power device and the vehicle control device is normal, the driving parameters are sent to the vehicle control device.

5. The method according to claim 4, characterized in that The method further comprises: A detection result from the motor or the power device is received, wherein the detection result is used to indicate whether a handshake detection between the motor or the power device and the vehicle control device is normal.

6. The method according to any one of claims 1, 2 or 5, characterized in that: Before sending the driving parameters to the vehicle control device, the method further includes: A first indication message is sent to the vehicle control device, where the first indication message is used to indicate that the driving parameter is ready to be processed.

7. The method according to claim 6, characterized in that Before sending the driving parameters to the vehicle control device, the method further includes: Sending first inspection information to the vehicle control device, wherein the first inspection information is used to inspect whether the preparation is completed; Receive response information of the first inspection information from the vehicle control device, wherein the response information is used to indicate that the preparation is completed.

8. The method according to claim 1 or 2, characterized in that: The method is applied to an intelligent control device, the current driving scenario includes the manual driving failure scenario, and the intelligent control device has all or part of the functions of the vehicle control device.

9. The method according to claim 8, characterized in that The intelligent control device is connected to the throttle signal and the brake signal, and the intelligent control device has all the functions of the vehicle control device; or, The intelligent control device is not connected to the throttle signal and the brake signal, and the intelligent control device has some functions of the vehicle control device.

10. The method according to claim 1 or 2, characterized in that: The method further comprises: Check whether the collaborative processing function of driving parameters is turned on; When the collaborative processing function is turned on, second indication information is sent to the motor, where the second indication information is used to instruct the collaborative processing of the driving parameters.

11. The method according to any one of claims 1, 2, 5, 7 or 9, characterized in that: The driving parameter includes at least one of the following: torque, vehicle speed, wheel speed, vehicle acceleration, motor phase angle, vehicle distance or wheel track.

12. The method according to any one of claims 1, 2, 5, 7 or 9, characterized in that: The vehicle control device is a vehicle control unit, a vehicle control domain controller, a hybrid power control unit, a power chassis domain controller, a mobile data center or a multi-domain controller.

13. A method for allocating driving parameters, characterized in that: Applied to a vehicle control device, the vehicle control device is used to allocate driving parameters in a non-low-speed scenario of intelligent driving or a normal scenario of manual driving, the method comprising: Receiving first indication information from the intelligent control device, wherein the first indication information is used to indicate that the intelligent control device is ready to transfer the vehicle control right or the right to allocate driving parameters to the vehicle control device; receiving a first driving parameter from the intelligent control device; A second driving parameter is sent to the motor, where the second driving parameter is obtained based on the first driving parameter.

14. The method according to claim 13, characterized in that Before sending the second driving parameter to the motor, the method further includes: receiving first inspection information from the intelligent control device, wherein the first inspection information is used to inspect whether the preparation is completed; Sending response information of the first inspection information to the intelligent control device, wherein the response information is used to indicate that the preparation is completed.

15. The method according to claim 13 or 14, characterized in that Before receiving the first indication information from the intelligent control device, the method further includes: The handshake detection with the intelligent control device is normal; or, The handshake detection with the intelligent control device is abnormal, but the handshake detection with the motor or power device is normal.

16. The method according to claim 13 or 14, characterized in that The first driving parameter includes at least one of the following: torque, vehicle speed, wheel speed, vehicle acceleration, motor phase angle, vehicle distance or wheel track.

17. The method according to claim 13 or 14, characterized in that The intelligent control device is an autonomous driving system, an advanced driver assistance system, a multi-domain controller, a mobile data center, an autonomous driving control unit or a high-performance computing center.

18. A vehicle-mounted device, characterized in that: The vehicle-mounted device comprises: a processing module and a transceiver module; The processing module is used to obtain driving parameters; The processing module is further used to determine a current driving scenario, wherein the current driving scenario includes an intelligent driving scenario, an intelligent driving low-speed scenario, an intelligent driving non-low-speed scenario, a normal manual driving scenario, or a manual driving failure scenario; The transceiver module is used to send the driving parameters to the motor or the vehicle control device according to the current driving scene; The sending the driving parameter to the motor or the vehicle control device according to the current driving scene includes: The current driving scenario includes an intelligent driving scenario, an intelligent driving low-speed scenario, or a manual driving failure scenario, and the driving parameters are sent to the motor; or, The current driving scenario includes an intelligent driving non-low-speed scenario or a manual driving normal scenario, and the driving parameters are sent to the vehicle control device.

19. The vehicle-mounted device according to claim 18, characterized in that: The processing module is specifically used for: Detecting that the intelligent driving mode is turned on, and determining that the current driving scene includes the intelligent driving scene; or, Detecting that the intelligent driving mode is turned on and the vehicle speed is less than or equal to a first threshold, determining that the current driving scene includes the intelligent driving low-speed scene; or, Detecting that the intelligent driving mode is turned on and the vehicle speed is greater than a first threshold, determining that the current driving scene includes the intelligent driving non-low-speed scene; or, A handshake detection exception with the vehicle control device or a communication interruption with the vehicle control device determines that the current driving scenario includes the manual driving failure scenario.

20. The vehicle-mounted device according to claim 18 or 19, characterized in that: The transceiver module is further specifically used for: When the handshake detection with the vehicle control device is normal, the driving parameters are sent to the vehicle control device.

21. The vehicle-mounted device according to claim 18 or 19, characterized in that: The transceiver module is further specifically used for: When the handshake detection with the vehicle control device is abnormal and the handshake detection with the motor or power device and the vehicle control device is normal, the driving parameters are sent to the vehicle control device.

22. The vehicle-mounted device according to claim 21, characterized in that: The transceiver module is also used to receive a detection result from the motor or the power device, and the detection result is used to indicate whether the handshake detection between the motor or the power device and the vehicle control device is normal.

23. The vehicle-mounted device according to any one of claims 18, 19 or 22, characterized in that: The transceiver module is further used to send first indication information to the vehicle control device, where the first indication information is used to indicate preparation for processing the driving parameters.

24. The vehicle-mounted device according to claim 23, characterized in that: The transceiver module is further used to send first inspection information to the vehicle control device, where the first inspection information is used to check whether the preparation is completed; The transceiver module is further used to receive response information of the first inspection information from the vehicle control device, and the response information is used to indicate that the preparation is completed.

25. The vehicle-mounted device according to any one of claims 18, 19, 22 or 24, characterized in that: The current driving scenario includes the manual driving failure scenario, and the on-board equipment has all or part of the functions of the vehicle control device.

26. The vehicle-mounted device according to claim 25, characterized in that: The vehicle-mounted device is connected to the throttle signal and the brake signal, and the vehicle-mounted device has all the functions of the vehicle control device; or, The vehicle-mounted device is not connected to a throttle signal and a brake signal, and the vehicle-mounted device has some functions of the vehicle control device.

27. The vehicle-mounted device according to any one of claims 18, 19, 22, 24 or 26, characterized in that: The processing module is also used to detect whether the collaborative processing function of driving parameters is turned on; The transceiver module is further used to send second indication information to the motor when the collaborative processing function is turned on, and the second indication information is used to instruct the collaborative processing of the driving parameters.

28. The vehicle-mounted device according to any one of claims 18, 19, 22, 24 or 26, characterized in that: The driving parameter includes at least one of the following: torque, vehicle speed, wheel speed, vehicle acceleration, motor phase angle, vehicle distance or wheel track.

29. The vehicle-mounted device according to any one of claims 18, 19, 22, 24 or 26, characterized in that: The vehicle control device is a vehicle control unit, a vehicle control domain controller, a hybrid power control unit, a power chassis domain controller, a mobile data center or a multi-domain controller.

30. A vehicle-mounted device, characterized in that: The vehicle-mounted device is used to allocate driving parameters in a non-low-speed scenario of intelligent driving or a normal scenario of manual driving, and the vehicle-mounted device includes: a transceiver module; The transceiver module is used to receive first indication information from the intelligent control device, where the first indication information is used to indicate that the intelligent control device is ready to transfer the vehicle control right or the right to allocate driving parameters to the vehicle-mounted device; The transceiver module is further used to receive the first driving parameter from the intelligent control device; The transceiver module is further used to send a second driving parameter to the motor, where the second driving parameter is obtained based on the first driving parameter.

31. The vehicle-mounted device according to claim 30, characterized in that: The transceiver module is further used to receive first inspection information from the intelligent control device, where the first inspection information is used to check whether the preparation is completed; The transceiver module is further used to send response information of the first inspection information to the intelligent control device, and the response information is used to indicate that the preparation is completed.

32. The vehicle-mounted device according to claim 30 or 31, characterized in that: The vehicle-mounted device further includes: a processing module; The processing module is used to perform handshake detection with the intelligent control device normally; or, The processing module is used to detect abnormal handshake with the intelligent control device, but normal handshake with the motor or power device.

33. The vehicle-mounted device according to claim 30 or 31, characterized in that: The first driving parameter includes at least one of the following: torque, vehicle speed, wheel speed, vehicle acceleration, motor phase angle, vehicle distance or wheel track.

34. The vehicle-mounted device according to claim 30 or 31, characterized in that: The intelligent control device is an autonomous driving system, an advanced driver assistance system, a multi-domain controller, a mobile data center, an autonomous driving control unit or a high-performance computing center.

35. A vehicle-mounted device, characterized in that: include: A processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the program or instructions are executed by the processor, the vehicle-mounted device executes the method as described in any one of claims 1 to 12, or executes the method as described in any one of claims 13 to 17.

36. A chip, characterized in that: include: A processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the program or instructions are executed by the processor, the chip executes the method as described in any one of claims 1 to 12 or the method as described in any one of claims 13 to 17.

37. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instructions are executed, the computer performs the method according to any one of claims 1 to 12 or the method according to any one of claims 13 to 17.

38. A computer program product, comprising computer program code, characterized in that: When the computer program code is executed on a computer, the computer is enabled to implement the method according to any one of claims 1 to 12 or the method according to any one of claims 13 to 17.

39. An intelligent driving vehicle, characterized in that: include: The vehicle-mounted device according to any one of claims 18 to 29, and / or the vehicle-mounted device according to any one of claims 30 to 34.

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